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1. (WO2018059776) END EFFECTOR ASSEMBLY

Pub. No.:    WO/2018/059776    International Application No.:    PCT/EP2017/068305
Publication Date: Fri Apr 06 01:59:59 CEST 2018 International Filing Date: Fri Jul 21 01:59:59 CEST 2017
IPC: B25J 15/00
B25J 15/06
Applicants: BROETJE-AUTOMATION GMBH
Inventors: REINHOLD, Raphael
QUAST, Sascha
Title: END EFFECTOR ASSEMBLY
Abstract:
The invention relates to an end effector assembly, comprising an end effector (2) for a manipulator (3) and comprising a controller (4) for the end effector (2), wherein the end effector (2) has a tool assembly (5) having a plurality of gripping device (6) for retaining a planar workpiece (7), wherein at least one gripping device (6) has a Bernoulli gripping unit (8), which has an outflow unit (9) for discharging a flow SB from the Bernoulli gripping unit (8) between the gripping device (6) and the workpiece (7) in such a way that the flow SB produces a negative pressure in a delimited region between the gripping device (6) and the workpiece (7) in order to retain the workpiece (7), and wherein at least one gripping device (6) has a gripping unit (10) of a different type, which gripping unit bears the workpiece (7) according to a different physical principle in comparison with the Bernoulli gripping unit (10). According to the invention, the controller (4) is designed to switch the end effector (2) between retention of the workpiece (7) by means of at least one Bernoulli gripping unit (8) and retention by means of at least one gripping unit (10) of a different type during the retention of the workpiece (7).